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rebased to the recent master #15

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14dee1b
a memory leak occurs when createing a new type
cmake Feb 2, 2018
8243736
created a new instance of RosSchemas manually and filled values to Fi…
cmake Feb 6, 2018
4f1600c
a memory leak occurs when createing a new type
cmake Feb 2, 2018
8ed457c
fixed merge conflict
cmake Feb 19, 2018
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25 changes: 11 additions & 14 deletions pyros_schemas/ros/schemagic.py
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Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,8 @@ def create(ros_msg_class,

members_types = _get_rosmsg_fields_as_dict(ros_msg_class)
members = {}
for s, stype in six.iteritems(members_types):
schema_instance = RosSchema()
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@asmodehn asmodehn Feb 19, 2018

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So you mean that instead of creating a child class (CustomMsgSchema) of RosSchema, and taking and instance of that class,
it is better to instantiate a RosSchema and usedirectly that instance ?
How about the second time we need that Schema, we have to create it again it seems ?

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@zaxrok zaxrok Feb 19, 2018

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I tried to solve your source as much as possible without modifying it if possible. So I did not try various methods. Sorry and thank you of your efforts.

for s, stype in members_types.iteritems():
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@asmodehn asmodehn Feb 19, 2018

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iteritems() is not py2/py3 compatible. please use methods that work in both.

# Note here we rely entirely on _opt_slots from the class to be set properly
# for both Nested or List representation of optional fields
ros_schema_inst = None
Expand Down Expand Up @@ -80,28 +81,24 @@ def create(ros_msg_class,
ros_schema_inst = RosNested(create(stype)) # we need to nest the next (Ros)Schema

members.setdefault(s, ros_schema_inst)
schema_instance.declared_fields[s] = ros_schema_inst
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@asmodehn asmodehn Feb 19, 2018

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This seems very hacky to me.
If marshmallow is updated and decides to change the internals of RosSchema, nothing will work and it will be hard to find this place again. Why not initializing the instance after we have gathered all members ?

schema_instance.fields[s] = ros_schema_inst

# supporting extra customization of the serialization
if pre_load_fun:
members['_helper_pre_load'] = pre_load(pre_load_fun)
schema_instance.declared_fields['_helper_pre_load'] = pre_load(pre_load_fun)
if post_load_fun:
members['_helper_post_load'] = post_load(post_load_fun)
schema_instance.declared_fields['_helper_post_load'] = post_load(post_load_fun)
if pre_dump_fun:
members['_helper_pre_dump'] = pre_dump(pre_dump_fun)
schema_instance.declared_fields['_helper_pre_dump'] = pre_dump(pre_dump_fun)
if post_dump_fun:
members['_helper_post_dump'] = post_dump(post_dump_fun)
schema_instance.declared_fields['_helper_post_dump'] = post_dump(post_dump_fun)

# adding extra members if needed
for k, v in kwargs:
members[k] = v
schema_instance.declared_fields[k] = v

members['_valid_ros_msgtype'] = ros_msg_class
members['_generated_ros_msgtype'] = ros_msg_class

MsgSchema = type(ros_msg_class.__name__ + 'Schema', (RosSchema,), members)

# Generating the schema instance
# TODO : nicer way ?
schema_instance = MsgSchema()
schema_instance._valid_ros_msgtype = ros_msg_class
schema_instance._generated_ros_msgtype = ros_msg_class

return schema_instance